RTCM
The RTCM SC-104 protocol is mainly used to transmit differential GNSS correction data. It was developed by the Radio Technical Commission for Maritime Services (RTCM) and is now a well established format to stream, in real time, GNSS raw data. It is also used for post processing application as it's an efficient (compressed) binary file format that stores RAW GNSS data. For example, DJI RTK UAVs are using RTCM format to store RAW GNSS data for post processing use.
Qinertia supports the RTCM v3 standard messages as well as the new MSM (Multiple Signal Message) format. Qinertia can parse directly RTCMv3 data for kinematic rover GNSS data as well as for static base station / corrections data.
RTCMv3 Messages
Qinertia parse and use the following list of RTCM messages.
Message ID | Message name |
|---|---|
| RTCM-1019 | GPS Satellite Ephemeris Data |
| RTCM-1020 | Glonass Satellite Ephemeris Data |
| RTCM-1045 | Galileo F/NAV Satellite Ephemeris Data |
| RTCM-1046 | Galileo I/NAV Satellite Ephemeris Data |
| RTCM-1074 | GPS MSM4, Full Pseudoranges and PhaseRanges plus CNR |
| RTCM-1075 | GPS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR |
| RTCM-1077 | GPS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution) |
| RTCM-1084 | GLONASS MSM4, Full Pseudoranges and PhaseRanges plus CNR |
| RTCM-1085 | GLONASS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR |
| RTCM-1087 | GLONASS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution) |
| RTCM-1094 | GALILEO MSM4, Full Pseudoranges and PhaseRanges plus CNR |
| RTCM-1095 | GALILEO MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR |
| RTCM-1097 | GALILEO MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution) |
| RTCM-1114 | QZSS MSM4, Full Pseudoranges and PhaseRanges plus CNR |
| RTCM-1115 | QZSS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR |
| RTCM-1117 | QZSS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution) |
| RTCM-1124 | BEIDOU MSM4, Full Pseudoranges and PhaseRanges plus CNR |
| RTCM-1125 | BEIDOU MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR |
| RTCM-1127 | BEIDOU MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution) |